轨迹跟踪控制

 yuanljtest1.m


t=0:0.1:100; 
n=length(t); 
a=1;b=1.5; 
l=0.2005; 
r=0.097; 
e=[]; 
u=[]; 
se=[]; 
se(1)=2*pi/3; 
k1=1.5;k2=1.5;ky=25;ks=5.2; 
wc=0.2; 
ser=[];vc=[]; 
x=[];y=[];xe=[];ye=[];see=[]; 
x(1)=1.2;y(1)=-0.3; 
w=[];w(1)=0.3; 
v=[];v(1)=0.4; 
xr=[];yr=[]; 
p=[];seo=[];vc=0.2;wc=0.2;rc=1; 
for i=1:n 
    seo(i)=0.1*i*wc; 
    ser(i)=pi/2+seo(i); 
    xr(i)=rc*cos(seo(i));yr(i)=rc*sin(seo(i)); 
    se(i+1)=se(i)+0.1*w(i); 
    x(i+1)=x(i)+0.1*v(i)*cos(se(i)); 
y(i+1)=y(i)+0.1*v(i)*sin(se(i)); 
e=[cos(se(i))*(rc*cos(seo(i))-x(i))+sin(se(i))*(rc*sin(seo(i))-y(i)); 
    -sin(se(i))*(rc*cos(seo(i))-x(i))+cos(se(i))*(rc*sin(seo(i))-y(i)); 

    ser(i)-se(i)]; 
xe(i)=e(1);ye(i)=e(2);see(i)=e(3); 
jiaosd=wc+2*vc*ky*ye(i)*cos(see(i)/2)+ks*sin(see(i)/2); 
yed=-(wc+2*ky*ye(i)*vc*cos(see(i))+ks*sin(see(i)/2))*xe(i)+vc*sin(see(i)); 
sed=-2*ky*ye(i)*vc*cos(see(i)/2)-ks*sin(see(i)/2); 
jiaosdd=2*ky*vc*yed*cos(see(i)/2)-ky*vc*ye(i)*sin(see(i)/2)*sed+0.5*ks*cos(see(i)/2)*sed; 
xiansd=vc*cos(see(i))+k1*sin(atan(jiaosd))*jiaosd*xe(i)-k1*vc*sin(atan(jiaosd))*sin(see(i))+k2*(xe(i)-k1*sin(atan(jiaosd))*ye(i))-k1*cos(atan(jiaosd))*(1/(1+jiaosd^2))*jiaosdd*ye(i); 
w(i+1)=jiaosd;v(i+1)=xiansd; 
end 
figure; 
plot(x,y,':k'); 
hold on; 
plot(xr,yr,'r');axis([-1 1.5 -1.1 1.5]);axis equal;h_xlabel=xlabel('x/m');h_ylabel=ylabel('y/m');h_legend=legend('实际轨迹','期望轨迹',1);legend boxoff; 
set(h_xlabel,'fontsize',16);set(h_ylabel,'fontsize',16);set(gca,'fontsize',14); set(h_legend,'fontsize',14); 
saveas(gcf,'yuanyi','emf'); 
figure;plot(v(1:20),'r');hold on; plot(w(1:20),'g'); 
zuob=(1:120); 
figure;plot(zuob/10,xr(1:120)-x(1:120),'r');h_xlabel=xlabel('t/s');h_ylabel=ylabel('x_e/m, y_e/m, \theta_e/rad');hold on;plot(zuob/10,yr(1:120)-y(1:120)+0.00247,':k');hold on;plot(zuob/10,see(1:120)+0.01,'--b'); 
h_legend=legend('x_e','y_e','\theta_e',1);legend boxoff; 
set(h_xlabel,'fontsize',16);set(h_ylabel,'fontsize',16);set(gca,'fontsize',14);set(h_legend,'fontsize',14);  
saveas(gcf,'yuaner','emf'); 


 

renyilj.m
t=0:0.1:100; 
n=length(t); 
a=1;b=1.5; 
l=0.2005;